Coaxial interventional device delivery system and delivery method

Abstract

The present invention relates to the technical field of medical surgical machinery, and proposes a coaxial interventional instrument delivery system and a delivery method, wherein the coaxial interventional instrument delivery system comprises: a telescopic delivery mechanism having a plurality of telescopic segments connected in sequence; a first delivery box assembly disposed at one end of the telescopic delivery mechanism; a second delivery box assembly disposed at the other end of the telescopic delivery mechanism; a third delivery box assembly disposed on a telescopic segment in the telescopic delivery mechanism, wherein the third delivery box assembly is configured to be rotatable around the axis of the telescopic segment and movable along the axis of the telescopic segment; the telescopic delivery mechanism enables the first delivery box assembly to move forward and backward relative to the second delivery box assembly and the third delivery box assembly to deliver or withdraw the interventional instrument. The present invention can solve the problem that the tail end of the catheter needs to be pulled out when delivering the intermediate catheter of the existing vascular interventional surgical instruments, and can also solve the problem that the intermediate delivery device used to fix the intermediate catheter affects the delivery stroke of the guidewire and the balloon.

Description

Technical Field

[0001] The present invention relates to the technical field of medical surgical machinery, and in particular to a coaxial interventional instrument delivery system and a delivery method. Background Art

[0002] Vascular interventional surgery is a modern medical technology. Under the guidance of the digital subtraction angiography (DSA) system, doctors manipulate surgical robots to control the movement of catheters in human blood vessels to treat lesions. During the operation, guide wires and catheters need to be delivered to the lesion site, and different instruments are selected for treatment according to surgical needs. For some complex lesions, an intermediate catheter may be required during the operation.

[0003] In the prior art, in the delivery method of some coaxial medical devices, the catheter and the intermediate catheter cannot move axially. When adding the intermediate catheter for surgery, the tail end of the catheter needs to be pulled out from the disposable consumable box, which will cause the head end of the catheter to move in the human body, which is not conducive to the surgery.

[0004] In the prior art, when the operation is completed without the use of an intermediate catheter, the intermediate catheter module cannot be retracted, so a section of length is sacrificed when delivering the guidewire and balloon. If the lesion is located far away, the guidewire or balloon may not be able to reach the lesion. Summary of the invention

[0005] The purpose of the present invention is to provide a coaxial interventional instrument delivery system and delivery method to solve the problem that the tail end of the catheter needs to be pulled out when delivering the intermediate catheter in existing vascular interventional surgical instruments, and also to solve the problem that the intermediate delivery device used to fix the intermediate catheter affects the delivery stroke of the guidewire and balloon.

[0006] The above technical objectives of the present invention are mainly achieved through the following technical solutions:

[0007] In a first aspect, the present invention provides a coaxial interventional device delivery system, comprising:

[0008] A telescopic delivery mechanism having a plurality of telescopic segments connected in sequence;

[0009] a first delivery box assembly disposed at one end of the telescopic delivery mechanism;

[0010] a second delivery box assembly disposed at the other end of the telescopic delivery mechanism;

[0011] a third delivery box assembly, disposed on one of the telescopic segments in the telescopic delivery mechanism, the third delivery box assembly being configured to rotate about an axis of the telescopic segment and to move along the axis of the telescopic segment;

[0012] The telescopic delivery mechanism enables the first delivery cartridge assembly to move forward and backward relative to the second delivery cartridge assembly and the third delivery cartridge assembly to deliver or withdraw the interventional instrument.

[0013] In a preferred embodiment of the present invention, the first delivery box assembly has a first delivery channel, the second delivery box assembly has a second delivery channel, and the third delivery box assembly has a third delivery channel. The first delivery channel and the second delivery channel are located on the same straight line, and the third delivery box assembly can be rotated until the third delivery channel and the first delivery channel are located on the same straight line; the axis of each delivery channel is parallel to the telescopic axis of the telescopic delivery mechanism.

[0014] In a preferred embodiment of the present invention, when each telescopic section of the telescopic delivery mechanism is in an extended state, the telescopic section adjacent to the second delivery box assembly is a primary telescopic section, and the third delivery box assembly is disposed on the primary telescopic section.

[0015] In a preferred embodiment of the present invention, the telescopic delivery mechanism has a plurality of telescopic rods which are sequentially sleeved from the inside to the outside, the plurality of telescopic rods are threadedly connected to each other, the innermost telescopic rod is a first-stage telescopic rod, the end of the first-stage telescopic rod is connected to the second delivery box assembly, and the third delivery box assembly is arranged on the first-stage telescopic rod.

[0016] In a preferred embodiment of the present invention, the outermost telescopic rod is a final telescopic rod, one end of which is externally connected to a telescopic rod rotation drive mechanism, which can drive the final telescopic rod to rotate and extend the telescopic delivery mechanism.

[0017] In a preferred embodiment of the present invention, the coaxial interventional instrument delivery system also includes a telescopic guide rail support mechanism, and the telescopic delivery mechanism is arranged parallel to the telescopic guide rail support mechanism. The telescopic guide rail support mechanism can support the telescopic delivery mechanism and telescope together with the telescopic delivery mechanism.

[0018] In a preferred embodiment of the present invention, the coaxial interventional instrument delivery system also includes a driving assembly, the first-level telescopic rod is inserted into the driving assembly and is threadedly connected to the driving assembly, the driving assembly is slidably connected to the telescopic guide rail support mechanism through a slider, the driving assembly is connected to the third delivery box assembly, and the driving assembly is used to drive the third delivery box assembly to move.

[0019] In a preferred embodiment of the present invention, the driving assembly comprises:

[0020] A sliding seat, slidably connected to the telescopic guide rail support mechanism through the sliding block;

[0021] A nut, rotatably disposed in the sliding seat via a bearing, the nut being threadedly connected to the primary telescopic rod;

[0022] A motor, disposed on the sliding seat and drivingly connected to the nut, the motor being used to drive the nut to rotate;

[0023] A rotating sleeve, rotatably disposed in the sliding seat through a bearing, the rotating sleeve is sleeved on the primary telescopic rod, and the rotating sleeve is connected to the third delivery box assembly through an adapter plate;

[0024] A locking device is used to drive the rotating sleeve to lock with the sliding seat or the nut.

[0025] In a preferred embodiment of the present invention, the locking device comprises:

[0026] An armature plate is arranged on the outer periphery of the rotating sleeve through a bearing sleeve, one side of the armature plate is axially plugged with the sliding seat, and the other side of the armature plate can be abutted and locked with the adapter plate;

[0027] An electromagnetic coil is disposed in the sliding seat, and the electromagnetic coil is used to drive the armature plate to move along the axis of the rotating sleeve;

[0028] A spring, disposed between the armature plate and the sliding seat;

[0029] When the electromagnetic coil is de-energized, the spring pushes the armature plate and the adapter plate to abut and lock, and the third delivery box assembly moves with the sliding seat;

[0030] When the electromagnetic coil is energized, the armature plate drives the rotating sleeve to move toward the nut and abuts against and locks with the nut, and the third delivery box assembly rotates with the nut.

[0031] In a preferred embodiment of the present invention, the first delivery box assembly comprises:

[0032] a first delivery wheel assembly, the first delivery wheel assembly being used to clamp the interventional instrument and deliver or withdraw the interventional instrument;

[0033] a first delivery box driving mechanism, drivingly connected to the first delivery wheel set;

[0034] First Y valve installation groove;

[0035] The first Y valve is detachably mounted in the first Y valve mounting groove, the inlet of the first Y valve faces the first delivery wheel assembly, the outlet of the first Y valve faces the second delivery box assembly, and the first Y valve is used to fix the tail end of the interventional instrument.

[0036] In a preferred embodiment of the present invention, the second delivery box assembly comprises:

[0037] a second delivery box mounting plate connected to the end of the primary telescopic rod;

[0038] a second delivery box driving mechanism, disposed on one side of the second delivery box mounting plate;

[0039] The second delivery box is detachably mounted on the other side of the second delivery box mounting plate, and the second delivery box driving mechanism is drivingly connected to the second delivery box.

[0040] In a preferred embodiment of the present invention, a first magnetic block, a first positioning protrusion and a first power output connector are provided on the mounting plate of the second delivery box, the second delivery box is magnetically connected to the first magnetic block, the second delivery box is matched and plugged into the first positioning protrusion, the second delivery box driving mechanism is drive-connected to the second delivery wheel group in the second delivery box through the first power output connector, and the second delivery wheel group is used to clamp the interventional instrument and deliver or withdraw the interventional instrument.

[0041] In a preferred embodiment of the present invention, the third delivery box assembly comprises:

[0042] a third delivery box mounting plate, rotatably mounted on the primary telescopic rod via the driving assembly;

[0043] A third delivery box driving mechanism, disposed on one side of the third delivery box mounting plate;

[0044] The third delivery box is detachably mounted on the other side of the third delivery box mounting plate, and the third delivery box driving mechanism is drivingly connected to the third delivery box.

[0045] In a preferred embodiment of the present invention, a second magnetic block, a second positioning protrusion and a second power output connector are provided on the third delivery box mounting plate, the third delivery box is magnetically connected to the second magnetic block, the third delivery box is matched and plugged with the second positioning protrusion, and the third delivery box driving mechanism is drivingly connected to the third delivery box via the second power output connector.

[0046] In a preferred embodiment of the present invention, the third delivery box comprises:

[0047] case;

[0048] A third delivery wheel set is disposed in the housing, the second power output connector is connected to the third delivery wheel set, and the third delivery wheel set is used to clamp the interventional instrument and deliver or withdraw the interventional instrument;

[0049] A second Y-valve mounting groove is provided in the housing;

[0050] The second Y valve is detachably mounted in the second Y valve mounting groove, the inlet of the second Y valve faces the third delivery wheel assembly, the outlet of the second Y valve faces the second delivery box assembly, and the second Y valve is used to fix the tail end of the interventional instrument.

[0051] In a second aspect, the present invention further provides a delivery method, which is implemented using the coaxial interventional device delivery system as described above, and the delivery method comprises the following steps:

[0052] Step S1: the telescopic delivery mechanism is extended to a predetermined length, the second delivery box assembly is connected to the vascular sheath, and the third delivery box assembly is rotated to be offset from the first delivery box assembly;

[0053] Step S2: installing a Y-valve connected to the tail end of the catheter on the first delivery box assembly, and installing the head end of the catheter on the second delivery wheel assembly in the second delivery box assembly;

[0054] Step S3: delivering the catheter into the vascular sheath by contraction of the telescopic delivery mechanism and rotation of the second delivery wheel group, while keeping the tip of the catheter not protruding from the vascular sheath;

[0055] Step S4: delivering the guide wire using the first delivery box assembly;

[0056] Step S5: Continue to deliver the catheter by contracting the telescopic delivery mechanism and rotating the second delivery wheel assembly, and maintain the axial position of the guidewire by using the first delivery box assembly.

[0057] In a third aspect, the present invention also provides another delivery method, which is implemented using the coaxial interventional device delivery system as described above, and the delivery method comprises the following steps:

[0058] Step S01: the telescopic delivery mechanism is extended to a predetermined length, the second delivery box assembly is connected to the vascular sheath, and the third delivery box assembly is rotated to be coplanar with the first delivery box assembly;

[0059] Step S02: the third delivery box assembly moves along the telescopic section away from the second delivery box assembly;

[0060] Step S03: installing the second Y-valve connected to the tail end of the catheter on the third delivery box assembly, and installing the head end of the catheter on the second delivery wheel set in the second delivery box assembly; installing the first Y-valve connected to the tail end of the intermediate catheter on the first delivery box assembly, and installing the head end of the intermediate catheter on the third delivery wheel set in the third delivery box assembly;

[0061] Step S04: the third delivery box assembly moves along the telescopic section close to the second delivery box assembly, and simultaneously rotates the second delivery wheel assembly to deliver the catheter into the vascular sheath;

[0062] Step S05: delivering the intermediate conduit into the conduit by contracting the telescopic delivery mechanism and rotating the third delivery wheel set;

[0063] Step S06: delivering the guide wire using the first delivery box assembly;

[0064] Step S07: when the guidewire is blocked during delivery, stop delivering the guidewire, and continue delivering the intermediate catheter to follow the guidewire by contracting the telescopic delivery mechanism and rotating the third delivery wheel group;

[0065] Step S08: alternately delivering the guide wire and the intermediate catheter to pass through the obstructed position;

[0066] Step S09: retracting the intermediate conduit by extending the telescopic delivery mechanism and rotating the third delivery wheel assembly, so as to extract the intermediate conduit from the conduit;

[0067] Step S10: the third delivery box assembly moves along the telescopic section close to the second delivery box assembly, while rotating the second delivery wheel assembly to continue delivering the catheter to follow the guidewire.

[0068] Compared with the prior art, the present invention has the following characteristics and advantages:

[0069] The coaxial interventional instrument delivery system described in the present invention is provided with a third delivery box assembly for cooperating with the first delivery box assembly and the second delivery box assembly. Through the synergistic effect of the first delivery box assembly and the third delivery box assembly, the delivery of the coaxial interventional instrument (intermediate catheter, etc.) is achieved, avoiding the problem of needing to pull out the tail end of the catheter when delivering the intermediate catheter.

[0070] The coaxial interventional instrument delivery system described in the present invention has a second delivery box assembly at the end of the telescopic delivery mechanism. The second delivery box assembly is used to be connected to a vascular sheath pre-implanted in a blood vessel. The interventional instrument is directly delivered into the vascular sheath through the second delivery box assembly. The interventional instrument outside the vascular sheath is restricted by the rollers on the delivery box assembly to avoid leaving an unrestricted end of the interventional instrument on the rear side of the tail of the vascular sheath, thereby preventing the interventional instrument from bending during the delivery process.

[0071] In the coaxial interventional instrument delivery system described in the present invention, the third delivery box assembly is rotatably disposed on a telescopic segment in the telescopic delivery mechanism, and the third delivery box assembly can be rotated to a position offset from the first delivery box assembly, thereby preventing the third delivery box assembly from affecting the delivery stroke of the guidewire and the balloon. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0073] The accompanying drawings described herein are only for explanation purposes and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the various components in the figures are only schematic, used to help understand the present invention, and are not specifically limited to the shapes and proportional dimensions of the various components of the present invention. Those skilled in the art can select various possible shapes and proportional dimensions to implement the present invention according to the teachings of the present invention.

[0074] Figure 1 It is a structural schematic diagram of the coaxial interventional device delivery system of the present invention;

[0075] Figure 2 Another structural schematic diagram of the coaxial interventional device delivery system of the present invention;

[0076] Figure 3 It is a schematic structural diagram of the telescopic delivery mechanism, the guide rail telescopic support mechanism and the driving assembly of the present invention;

[0077] Figure 4 It is a schematic structural diagram of the coaxial interventional device delivery system of the present invention in a contracted state;

[0078] Figure 5 It is a schematic diagram of the structure of the driving assembly of the present invention;

[0079] Figure 6It is a schematic cross-sectional structural diagram of the driving assembly of the present invention.

[0080] Description of reference numerals:

[0081] 10. Telescopic delivery mechanism; 11. First-stage telescopic rod; 12. Final-stage telescopic rod; 13. Telescopic rod rotation drive mechanism; 14. Flange; 15. End plate; 16. Adapter plate;

[0082] 20. Telescopic guide rail support mechanism; 21. Primary guide rail unit; 22. Final guide rail unit;

[0083] 30. First delivery box assembly; 31. First delivery wheel assembly; 32. First Y valve mounting slot; 33. First Y valve;

[0084] 40. Second delivery box assembly; 41. Second delivery box mounting plate; 42. First magnetic block; 43. First positioning protrusion; 44. First power output connector; 45. Second delivery box; 46. Second delivery wheel set;

[0085] 50. third delivery box assembly; 51. third delivery box mounting plate; 52. second magnetic block; 53. second positioning protrusion; 54. second power output connector; 55. third delivery box; 56. third delivery wheel set; 57. second Y valve mounting slot; 58. second Y valve;

[0086] 60. driving assembly; 61. sliding seat; 62. nut; 63. motor; 64. rotating sleeve; 65. armature plate; 66. electromagnetic coil; 67. first bearing; 68. second bearing; 69. third bearing;

[0087] 70. Robotic arm. DETAILED DESCRIPTION

[0088] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0089] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment.

[0090] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0091] Implementation method 1:

[0092] like Figures 1 to 4 As shown, the present invention provides a coaxial interventional instrument delivery system, which includes a telescopic delivery mechanism 10, a first delivery box assembly 30, a second delivery box assembly 40 and a third delivery box assembly 50. The telescopic delivery mechanism 10 has a plurality of telescopic sections connected in sequence; the first delivery box assembly 30 is arranged at one end of the telescopic delivery mechanism 10; the second delivery box assembly 40 is arranged at the other end of the telescopic delivery mechanism 10; the third delivery box assembly 50 is arranged on a telescopic section in the telescopic delivery mechanism 10, and the third delivery box assembly 50 is configured to rotate around the axis of the telescopic section and move along the axis of the telescopic section; the telescopic delivery mechanism 10 can make the first delivery box assembly 30 move forward and backward relative to the second delivery box assembly 40 and the third delivery box assembly 50 to deliver or withdraw the interventional instrument.

[0093] The first delivery box assembly 30 has a first delivery channel, the second delivery box assembly 40 has a second delivery channel, and the third delivery box assembly 50 has a third delivery channel. The first delivery channel and the second delivery channel are located on the same straight line, and the third delivery box assembly 50 can be rotated until the third delivery channel and the first delivery channel are located on the same straight line; the axes of each delivery channel are parallel to the telescopic axis of the telescopic delivery mechanism 10.

[0094] The coaxial interventional instrument delivery system described in the present invention is provided with a third delivery box assembly 50 for cooperating with the first delivery box assembly 30 and the second delivery box assembly 40. Through the synergistic effect of the first delivery box assembly 30 and the third delivery box assembly 50, the delivery of the coaxial interventional instrument (intermediate catheter, etc.) is achieved, avoiding the problem of needing to pull out the tail end of the catheter when delivering the intermediate catheter.

[0095] The coaxial interventional instrument delivery system described in the present invention is provided with a second delivery box assembly 40 at the end of the telescopic delivery mechanism 10. The second delivery box assembly 40 is used to be connected to a vascular sheath pre-implanted in a blood vessel. The interventional instrument is directly delivered into the vascular sheath through the second delivery box assembly 40. The interventional instrument outside the vascular sheath is restricted by the rollers on the delivery box assembly to avoid leaving an unrestricted end of the interventional instrument on the rear side of the tail of the vascular sheath, thereby preventing the interventional instrument from bending during the delivery process.

[0096] In the coaxial interventional instrument delivery system described in the present invention, the third delivery box assembly 50 is rotatably disposed on a telescopic segment in the telescopic delivery mechanism 10. The third delivery box assembly 50 can be rotated to a position offset from the first delivery box assembly 30, thereby preventing the third delivery box assembly 50 from affecting the delivery stroke of the guidewire and the balloon.

[0097] The specific structure of each part of the coaxial interventional instrument delivery system of the present invention, as well as the position and connection relationship between the parts will be described in detail below.

[0098] The coaxial interventional instrument system of the present invention has a telescopic delivery mechanism 10, such as Figure 1 and Figure 3 As shown, the telescopic delivery mechanism 10 can adopt an existing telescopic structure to achieve the approach or distance between the first delivery box assembly 30 and the second delivery box assembly 40 by extending or shortening itself in a straight line direction. The specific structure and delivery method of the telescopic delivery mechanism 10 are not limited here; for example, the telescopic delivery mechanism 10 in this embodiment can adopt the telescopic delivery mechanism used in the Chinese patent with publication number CN117814923A, publication date April 5, 2024, and name "Vascular Intervention Surgery Robot and Delivery Method".

[0099] In this embodiment, if Figure 3 As shown, each telescopic section of the telescopic delivery mechanism 10 can be a telescopic rod, and multiple telescopic rods are sequentially sleeved together from the inside to the outside, and the multiple telescopic rods are threadedly connected. The innermost telescopic rod is the first-stage telescopic rod 11, and the end of the first-stage telescopic rod 11 is connected to the second delivery box assembly 40; the outermost telescopic rod is the final telescopic rod 12, and the axial position of the final telescopic rod 12 relative to the first delivery box assembly 30 is relatively fixed. The tail ends of the first delivery box assembly 30 and the final telescopic rod 12 can be relatively fixedly installed on the mechanical arm 70 in the axial direction. One end of the final telescopic rod 12 is externally connected to a telescopic rod rotation drive mechanism 13, which can drive the final telescopic rod 12 to rotate and make the telescopic delivery mechanism 10 telescopic.

[0100] The coaxial interventional instrument system of the present invention further comprises a telescopic guide rail support mechanism 20, such as Figure 1 and Figure 3 As shown, the telescopic delivery mechanism 10 is arranged in parallel with the telescopic guide rail support mechanism 20, and the telescopic guide rail support mechanism 20 can support the telescopic delivery mechanism 10 and extend and retract with the telescopic delivery mechanism 10. The telescopic guide rail support mechanism 20 can extend and retract along the telescopic direction of the telescopic rod, and the two ends of the telescopic guide rail support mechanism 20 are respectively connected to the final telescopic rod 12 and the primary telescopic rod 11 to support each telescopic rod.

[0101] The telescopic guide rail support mechanism 20 can adopt an existing telescopic guide rail structure, and realize telescopic extension through multiple guide rails stacked up and down. The specific structure and delivery method of the telescopic guide rail support mechanism 20 are not limited here; for example, the telescopic guide rail support mechanism 20 in this embodiment can adopt the telescopic guide rail support mechanism used in the Chinese patent with publication number CN117814923A, publication date April 5, 2024, and name "Vascular Intervention Surgery Robot and Delivery Method".

[0102] In this embodiment, if Figure 3 As shown, the telescopic guide rail support mechanism 20 has a plurality of guide rail units arranged sequentially from top to bottom; the topmost guide rail unit is a primary guide rail unit 21, which has a primary extension plate, a primary slider and a primary guide rail connected sequentially from top to bottom, and one end of the primary extension plate is connected and fixed to the primary telescopic rod 11; the bottommost guide rail unit is a final guide rail unit 22, which has a final extension plate, a final slider and a final guide rail connected sequentially from top to bottom, and the final guide rail is stationary relative to the first delivery box assembly 30. In the two adjacent guide rail units, the guide rail in the upper guide rail unit is fixedly connected to the extension plate in the lower guide rail unit, and the two can be an integrated structure.

[0103] like Figure 3 As shown, one end of the primary guide rail unit 21 is connected and fixed to the primary telescopic rod 11 through a flange 14, and one end of the final guide rail unit 22 is connected and fixed to the telescopic rod rotation drive mechanism 13; and a slide rail is provided on the primary extension plate in the primary guide rail unit 21 for sliding connection with the drive assembly 60 described below.

[0104] The coaxial interventional instrument system of the present invention also has a first delivery box assembly 30, which is arranged at the tail end of the final telescopic rod 12. The first delivery box assembly 30 is used to connect the interventional instrument and can deliver or withdraw the interventional instrument. The first delivery box assembly 30 can be implemented by any existing delivery device that can be used to deliver interventional instruments (catheters and guidewires), and its specific structure and delivery method are not limited here. For example, the first delivery box assembly 30 can adopt the interventional surgery delivery device in the Chinese patent with publication number CN113893441A, publication date January 7, 2022, and name "An interventional surgery delivery device"; the first delivery box assembly 30 can also adopt the interventional surgery delivery device in the Chinese patent with publication number CN220714019U, publication date April 5, 2024, and name "Interventional surgery instrument delivery device and surgical robot".

[0105] In this embodiment, if Figure 1As shown, the first delivery box assembly 30 includes a first delivery wheel group 31, a first delivery box driving mechanism, a first Y-valve mounting groove 32 and a first Y-valve 33; the first delivery box driving mechanism (not shown) is drivingly connected to the first delivery wheel group 31; the first Y-valve 33 is detachably installed in the first Y-valve mounting groove 32, the inlet of the first Y-valve 33 faces the first delivery wheel group 31, and the outlet of the first Y-valve 33 faces the second delivery box assembly 40, and the first Y-valve 33 is used to fix the tail end of the interventional instrument.

[0106] Furthermore, the first delivery wheel group 31 is used to deliver the guide wire, which includes a driving roller and a driven roller twice the number of the driving rollers, and a plurality of guide wire delivery channels are formed between the driving roller and the driven roller. The driven roller in the first delivery wheel group 31 is an eccentric wheel, which can achieve the clamping of the slender interventional instrument (usually a guide wire) by rotation, and the cooperation of the driving roller and the driven roller can achieve the delivery of the guide wire. The outlet direction of the first Y valve 33 is the same as the delivery outlet direction of the first delivery box assembly 30, and both are parallel to the telescopic direction of the telescopic delivery mechanism 10.

[0107] The coaxial interventional instrument system of the present invention further comprises a second delivery box assembly 40. Figure 1 As shown, the second delivery box assembly 40 is arranged at the head end of the primary telescopic rod 11, and the second delivery box assembly 40 can be connected to the tail end of the vascular sheath to assist the first delivery box assembly 30 in delivering the interventional device (catheter). Before starting the delivery operation, the head end of the catheter can be fixed in the second delivery box assembly 40, and can directly enter the vascular sheath through the second delivery box 45. During the delivery process of the catheter, the two ends of the part of the catheter that has not entered the vascular sheath are respectively limited by the first delivery box assembly 30 and the second delivery box assembly 40, thereby preventing the part of the catheter from bending due to resistance during the delivery process.

[0108] like Figures 1 to 3 As shown, the second delivery box assembly 40 is fixedly connected to the flange 14 through the end plate 15. The second delivery box assembly 40 includes a second delivery box mounting plate 41, a second delivery box driving mechanism, and a second delivery box 45. The second delivery box driving mechanism (not shown) is arranged on one side of the second delivery box mounting plate 41; the second delivery box 45 is detachably mounted on the other side of the second delivery box mounting plate 41, and the second delivery box driving mechanism is drivingly connected to the second delivery box 45.

[0109] Specifically, Figure 2 and Figure 3As shown, the end plate 15 extends in a direction perpendicular to the telescopic axis of the telescopic delivery mechanism 10, so that the second delivery box mounting plate 41 is staggered in the axial direction with the telescopic delivery mechanism 10. The second delivery box mounting plate 41 is provided with a first magnetic block 42, a first positioning protrusion 43 and a first power output connector 44, the second delivery box 45 is magnetically connected to the first magnetic block 42, the second delivery box 45 is matched and plugged with the first positioning protrusion 43, the second delivery box driving mechanism is driven and connected with the second delivery wheel set 46 in the second delivery box 45 through the first power output connector 44, and the second delivery wheel set 46 is used to clamp the interventional instrument and deliver or withdraw the interventional instrument.

[0110] A quick-release structure is designed between the second delivery box 45 and the second delivery box mounting plate 41, which can be quickly disassembled and assembled through snap-fit ​​positioning and magnetic fixation, making it easy to use and operate and quickly replace, thereby improving the efficiency of robot-assisted surgery.

[0111] The second delivery box driving mechanism includes a motor and a gear transmission chain connected to the motor, and the rotation of the motor is transmitted to the first power output connector 44 through the gear transmission chain to drive the first power output connector 44 to rotate. The number of the first power output connector 44 is the same as the number of rollers in the second delivery wheel set 46.

[0112] The second delivery box 45 has a box body, in which a second delivery wheel set 46 is arranged, and the second delivery wheel set 46 includes two rollers arranged side by side. A power input connector connected to the rollers is arranged at the bottom of the box body, and the power input connector and the rollers can rotate synchronously in the box body, and the power input connector can be aligned and snap-fitted with the first power output connector 44. A magnetic interface is also arranged at the bottom of the box body, and the magnetic interface is used to be magnetically connected with the first magnetic block 42. A plurality of positioning grooves are arranged on the side wall of the box body, and the positioning grooves are used to match and plug with the first positioning protrusion 43.

[0113] When the second delivery box 45 is installed on the second delivery box mounting plate 41, the first positioning protrusion 43 is inserted into the positioning groove, the first magnetic block 42 is magnetically connected to the magnetic interface, and the first power output connector 44 is snap-fitted to the power input connector.

[0114] The coaxial interventional instrument system of the present invention further comprises a third delivery box assembly 50, such as Figure 1 and Figure 2 As shown, the third delivery box assembly 50 is movably and rotatably connected to the primary telescopic rod 11 through the driving assembly 60. The specific structures of the driving assembly 60 and the third delivery box assembly 50 will be described below.

[0115] like Figure 5 and Figure 6As shown, the first-stage telescopic rod 11 is inserted into the driving assembly 60 and is threadedly connected to the driving assembly 60. The driving assembly 60 is slidably connected to the telescopic guide rail support mechanism 20 through a slider. The driving assembly 60 is connected to the third delivery box assembly 50. The driving assembly 60 is used to drive the third delivery box assembly 50 to move.

[0116] Specifically, the driving assembly 60 includes a sliding seat 61, a nut 62, a motor 63, a rotating sleeve 64 and a locking device. The sliding seat 61 is slidably connected to the telescopic guide rail support mechanism 20 through a slider; the nut 62 is rotatably arranged in the sliding seat 61 through a first bearing 67, the outer periphery of the primary telescopic rod 11 is provided with an external thread, and the nut 62 is threadedly connected to the primary telescopic rod 11; the motor 63 is arranged on the sliding seat 61, and the output shaft of the motor 63 is drivingly connected to the nut 62 through a gear transmission chain, and the motor 63 is used to drive the nut 62 to rotate; the rotating sleeve 64 is rotatably arranged in the sliding seat 61 through a second bearing 68, the rotating sleeve 64 is sleeved on the primary telescopic rod 11 with a gap therebetween, the rotating sleeve 64 and the nut 62 are axially adjacently arranged, and the rotating sleeve 64 is connected to the third delivery box assembly 50 through an adapter plate 16; the locking device is used to drive the rotating sleeve 64 to lock with the sliding seat 61 or the nut 62.

[0117] When the locking device locks the rotating sleeve 64 and the sliding seat 61, since the sliding seat 61 is connected to the guide rail in the telescopic guide rail support mechanism 20 through the slider, the sliding seat 61 can only move along the axial direction of the primary telescopic rod 11, and the rotating sleeve 64 is locked with the sliding seat 61, that is, the rotating sleeve 64 can only move with the sliding seat 61, and accordingly, the third delivery box assembly 50 connected to the sliding seat 61 through the adapter plate 16 can also only move along the axial direction of the primary telescopic rod 11.

[0118] When the locking device locks the rotating sleeve 64 and the nut 62, the rotation of the nut 62 driven by the motor 63 will cause it to move along the axis of the primary telescopic rod 11. Since the rotating sleeve 64 and the nut 62 are locked, the two rotate and move synchronously. Accordingly, the third delivery box assembly 50 connected to the sliding seat 61 through the adapter plate 16 can move along the axis of the primary telescopic rod 11 and rotate around the axis of the primary telescopic rod 11. In the ball screw transmission pair, since the moving distance of the nut is negligible relative to the angle of rotation with it, it can be considered that the third delivery box assembly 50 can rotate around the axis of the primary telescopic rod 11.

[0119] By switching the locking device between two locking states, the movement and rotation of the third delivery box assembly 50 can be achieved simultaneously through only one driving device (one motor). The design is relatively ingenious and can significantly reduce the complexity of the driving assembly 60.

[0120] Further, such as Figure 5 and Figure 6 As shown, the locking device includes an armature plate 65, an electromagnetic coil 66 and a spring. The armature plate 65 is sleeved on the outer periphery of the rotating sleeve 64 through the third bearing 69, one side of the armature plate 65 is axially plugged with the sliding seat 61, and the armature plate 65 can only move axially relative to the sliding seat 61, and the other side of the armature plate 65 can be abutted and locked with the adapter plate 16, thereby locking the third delivery box assembly 50 connected to the adapter plate 16, and the third delivery box assembly 50 cannot rotate around the axis direction of the primary telescopic rod 11. The electromagnetic coil 66 is arranged in the sliding seat 61, and the electromagnetic coil 66 is used to drive the armature plate 65 to move along the axis of the rotating sleeve 64. When the electromagnetic coil 66 is energized, it can drive the armature plate 65 to move toward the nut 62, and correspondingly drive the rotating sleeve 64 connected thereto to move toward the nut 62, thereby making the rotating sleeve 64 axially abut against the nut 62, and the two are locked by friction and rotate synchronously. A spring (not shown) is provided between the armature plate 65 and the sliding seat 61. The spring can provide the armature plate 65 with a thrust in a direction away from the nut 62. When the electromagnetic coil 66 loses power, the nut 62 and the rotating sleeve 64 are unlocked under the action of the spring force, and the armature plate 65 can be pushed to axially abut against the adapter plate 16. The two are locked by friction and rotate synchronously.

[0121] When the electromagnetic coil 66 is de-energized, the spring pushes the armature plate 65 and the adapter plate 16 to be pressed against and locked, and the third delivery box assembly 50 moves along the axial direction of the primary telescopic rod 11 together with the sliding seat 61; when the electromagnetic coil 66 is energized, the electromagnetic force pushes the armature plate 65 to overcome the spring force to drive the rotating sleeve 64 to move toward the nut 62 and press against and lock with the nut 62, and the third delivery box assembly 50 rotates around the axial direction of the primary telescopic rod 11 together with the nut 62.

[0122] like Figures 1 to 3 As shown, the third delivery box assembly 50 includes a third delivery box mounting plate 51, a third delivery box driving mechanism and a third delivery box 55. The third delivery box mounting plate 51 is connected to the adapter plate 16; the third delivery box driving mechanism (not shown) is arranged on one side of the third delivery box mounting plate 51; the third delivery box 55 is detachably connected to the other side of the third delivery box mounting plate 51, and the third delivery box driving mechanism is drivingly connected to the third delivery box 55.

[0123] Specifically, the adapter plate 16 extends in a direction perpendicular to the telescopic axis of the telescopic delivery mechanism 10, so that the third delivery box mounting plate 51 is staggered in the axial direction with the telescopic delivery mechanism 10. The third delivery box mounting plate 51 is provided with a second magnetic block 52, a second positioning protrusion 53 and a second power output connector 54, the third delivery box 55 is magnetically connected to the second magnetic block 52, the third delivery box 55 is matched and plugged with the second positioning protrusion 53, and the third delivery box driving mechanism is driven and connected to the third delivery wheel set 56 in the third delivery box 55 through the second power output connector 54.

[0124] The third delivery box driving mechanism includes a motor and a gear transmission chain connected to the motor, and the rotation energy of the motor is transmitted to the second power output joint 54 through the gear transmission chain to drive the second power output joint 54 to rotate. The number of the second power output joints 54 is the same as the number of rollers in the third delivery wheel set 56 in the third delivery box 55.

[0125] A quick-release structure is designed between the third delivery box 55 and the third delivery box mounting plate 51. Through snap-fit ​​positioning and magnetic fixation, quick disassembly and assembly can be achieved, which facilitates operation and quick replacement, thereby improving the efficiency of robot-assisted surgery.

[0126] The third delivery box 55 can be implemented by any existing delivery device that can be used to deliver interventional instruments (catheters and guidewires), and its specific structure and delivery method are not limited here. For example, the third delivery box 55 can adopt the coaxial vascular interventional surgical instrument delivery box in the "Coaxial Vascular Interventional Surgery Instrument Delivery Box, Delivery System and Delivery Method" with publication number CN117838326A and publication date April 9, 2024.

[0127] In this embodiment, if Figure 3 As shown, the third delivery box 55 includes: a shell, a third delivery wheel group 56, a second Y-valve mounting groove 57 and a second Y-valve 58; the third delivery wheel group 56 is arranged in the shell, the second power output connector 54 is connected to the third delivery wheel group 56, and the third delivery wheel group 56 is used to clamp the interventional instrument and deliver or withdraw the interventional instrument; the second Y-valve mounting groove 57 is arranged in the shell; the second Y-valve 58 is detachably mounted in the second Y-valve mounting groove 57, the inlet of the second Y-valve 58 faces the third delivery wheel group 56, and the outlet of the second Y-valve 58 faces the second delivery box assembly 40, and the second Y-valve 58 is used to fix the tail end of the interventional instrument.

[0128] In summary, since the third delivery box assembly 50 is rotatably disposed on the primary telescopic rod 11, in some relatively simple surgeries, only a rapid exchange interventional instrument (catheter) needs to be delivered, and no intermediate catheter is needed, that is, the third delivery box assembly 50 is not needed. At this time, the third delivery box assembly 50 can be rotated by the driving assembly 60 to stagger the position with the first delivery box assembly 30. When the catheter is delivered through the first delivery box assembly 30, the first delivery box assembly 30 can be completely retracted to the rear end of the second delivery box 45, such as Figure 4 As shown, it will not affect the delivery stroke of the catheter.

[0129] Implementation method 2:

[0130] The present invention provides a delivery method, which is implemented by using the coaxial interventional device delivery system described in Embodiment 1. The delivery method is used to deliver a rapid exchange interventional device (catheter) in some relatively simple surgeries. The delivery method comprises the following steps:

[0131] Step S1: the telescopic delivery mechanism 10 is extended to a predetermined length, the second delivery box assembly 40 is connected to the vascular sheath, and the third delivery box assembly 50 is rotated to be offset from the first delivery box assembly 30;

[0132] Step S2: installing the Y-valve connected to the tail end of the catheter on the first delivery box assembly 30, and installing the head end of the catheter on the second delivery wheel assembly 46 in the second delivery box assembly 40;

[0133] Step S3: delivering the catheter into the vascular sheath by contracting the telescopic delivery mechanism 10 and rotating the second delivery wheel group 46, and keeping the tip of the catheter not protruding out of the vascular sheath;

[0134] Step S4: delivering the guide wire using the first delivery box assembly 30;

[0135] Step S5 : delivering the catheter by contracting the telescopic delivery mechanism 10 and rotating the second delivery wheel assembly 46 , and maintaining the axial position of the guidewire by using the first delivery box assembly 30 .

[0136] The specific operation process of each step of the above delivery method will be described in detail below.

[0137] In step S1, the device is extended, and the first delivery box assembly 30 is moved in a direction away from the second delivery box assembly 40 and moved to the extreme position through the extension of the telescopic delivery mechanism 10; then the tail end of the vascular sheath is fixed at the delivery outlet of the second delivery box assembly 40; and then the third delivery box assembly 50 needs to be driven to rotate by the driving assembly 60 so that the third delivery box assembly 50 is staggered with the first delivery box assembly 30.

[0138] In step S2, the catheter is installed: the tail end of the catheter is connected to the first Y-valve 33, and the first Y-valve 33 connected with the catheter is installed in the first Y-valve installation groove 32 in the first delivery box assembly 30; at the same time, the head end of the catheter is installed between the two rollers of the second delivery wheel group 46 in the second delivery box assembly 40.

[0139] In step S3, the catheter is delivered: the telescopic delivery mechanism 10 is contracted, the first delivery box assembly 30 moves toward the second delivery box assembly 40 to deliver the catheter forward, and at the same time, the second delivery wheel assembly 46 in the second delivery box assembly 40 is turned on, so that the tip of the catheter enters the guide blood sheath, and the delivery of the catheter is stopped when the tip of the catheter does not extend out of the blood sheath.

[0140] In step S4, the guide wire is delivered: the guide wire is installed between the rollers of the first delivery wheel group 31 in the first delivery box assembly 30, and the head end of the guide wire enters the first Y valve 33; then the guide wire is delivered into the catheter by the rotation of the first delivery wheel group 31 and moves forward in the catheter until the head end of the guide wire reaches the surgical position expected by the doctor and the delivery of the guide wire is stopped. The head end of the guide wire has an elbow, and the guide wire can be rotated to guide the delivery process of the guide wire.

[0141] In step S5, the catheter is continuously delivered: the telescopic delivery mechanism 10 is retracted, the first delivery box assembly 30 moves toward the second delivery box assembly 40 to deliver the catheter forward, and the second delivery wheel assembly 46 in the second delivery box assembly 40 is turned on. After the catheter continues to be delivered forward to follow the guidewire to the surgical position expected by the doctor, the delivery of the catheter is stopped. During the delivery process, in order to ensure that the axial position of the guidewire remains unchanged, the telescopic delivery mechanism 10 is retracted while the first delivery wheel assembly 31 is turned on to withdraw the guidewire, so that the position of the guidewire relative to the second delivery box assembly 40 remains unchanged.

[0142] Implementation method three:

[0143] The present invention also provides another delivery method, which is implemented by using the coaxial interventional device delivery system described in Embodiment 1. The delivery method is used to deliver a coaxial interventional device (intermediate catheter), and the delivery method comprises the following steps:

[0144] Step S01: the telescopic delivery mechanism 10 is extended to a predetermined length, the second delivery box assembly 40 is connected to the vascular sheath, and the third delivery box assembly 50 is rotated to be coplanar with the first delivery box assembly 30;

[0145] Step S02: the third delivery box assembly 50 moves away from the second delivery box assembly 40 along the telescopic section;

[0146] Step S03: Install the second Y-valve 58 connected to the tail end of the catheter on the third delivery box assembly 50, and install the head end of the catheter on the second delivery wheel set 46 in the second delivery box assembly 40; install the first Y-valve 33 connected to the tail end of the intermediate catheter on the first delivery box assembly 30, and install the head end of the intermediate catheter on the third delivery wheel set 56 in the third delivery box assembly 50;

[0147] Step S04: the third delivery box assembly 50 moves along the telescopic section close to the second delivery box assembly 40, and at the same time rotates the second delivery wheel assembly 46 to deliver the catheter into the vascular sheath;

[0148] Step S05: delivering the intermediate catheter into the catheter by contracting the telescopic delivery mechanism 10 and rotating the third delivery wheel set 56;

[0149] Step S06: delivering the guide wire using the first delivery box assembly 30;

[0150] Step S07: when the guidewire is blocked during delivery, stop delivering the guidewire, and use the contraction of the telescopic delivery mechanism 10 and the rotation of the third delivery wheel set 56 to deliver the intermediate catheter following the guidewire;

[0151] Step S08: alternately delivering the guide wire and the intermediate catheter to pass through the obstructed location;

[0152] Step S09: Retract the intermediate conduit by extending the telescopic delivery mechanism 10 and rotating the third delivery wheel set 56 to extract the intermediate conduit from the conduit;

[0153] Step S10: The third delivery box assembly 50 moves along the telescopic section close to the second delivery box assembly 40, while rotating the second delivery wheel assembly 46 to continue delivering the catheter to follow the guidewire.

[0154] The specific operation process of each step of the above delivery method will be described in detail below.

[0155] In step S01, the device is extended, and the first delivery box assembly 30 is moved in a direction away from the second delivery box assembly 40 and moved to the extreme position by extending the telescopic delivery mechanism 10; then the tail end of the vascular sheath is fixed at the delivery outlet of the second delivery box assembly 40; and then the third delivery box assembly 50 needs to be driven to rotate by the driving assembly 60 so that the third delivery box assembly 50 is coplanar with the first delivery box assembly 30.

[0156] In step S02, the driving assembly 60 drives the third delivery box assembly 50 to move along the axis direction of the primary telescopic rod 11, so that the third delivery box assembly 50 moves away from the second delivery box assembly 40 to the extreme position.

[0157] In step S03, the catheter is installed: the tail end of the catheter is connected to the second Y valve 58, and the second Y valve 58 connected with the catheter is installed in the second Y valve installation groove 57 in the third delivery box assembly 50, and the head end of the catheter is installed between the two rollers of the second delivery wheel set 46 in the second delivery box assembly 40. The intermediate catheter is installed: the tail end of the intermediate catheter is connected to the first Y valve 33, and the first Y valve 33 connected with the intermediate catheter is installed in the first Y valve installation groove 32 in the first delivery box assembly 30, and the head end of the intermediate catheter is installed between the two rollers of the third delivery wheel set 56 in the third delivery box assembly 50.

[0158] In step S04, the delivery catheter: the third delivery box assembly 50 is driven by the driving assembly 60 to move along the axis direction of the primary telescopic rod 11, so that the third delivery box assembly 50 moves toward the second delivery box assembly 40, and the second delivery wheel assembly 46 is turned on at the same time, the head of the catheter is delivered into the vascular sheath, and the delivery of the catheter is stopped when the head of the catheter does not extend out of the vascular sheath. During the delivery process, the telescopic delivery mechanism 10 needs to be contracted to keep the distance between the first delivery box assembly 30 and the third delivery box assembly 50 unchanged (an intermediate catheter is connected between the two).

[0159] In step S05, the intermediate catheter is delivered: the telescopic delivery mechanism 10 continues to contract, and the third delivery wheel assembly 56 in the third delivery box assembly 50 is opened to deliver the intermediate catheter into the catheter through the second Y valve 58, and the delivery of the intermediate catheter is stopped when the head of the intermediate catheter does not extend out of the vascular sheath.

[0160] In step S06, the guide wire is delivered: the guide wire is installed between the rollers of the first delivery wheel group 31 in the first delivery box assembly 30, and the head end of the guide wire enters the first Y-valve 33; then the guide wire is delivered into the intermediate conduit through the rotation of the first delivery wheel group 31 and moves forward in the intermediate conduit.

[0161] In step S07, if the guidewire is blocked during delivery, the guidewire delivery is stopped, the telescopic delivery mechanism 10 contracts, and the first delivery box assembly 30 moves toward the third delivery box assembly 50 to continue delivering the intermediate catheter following the guidewire; in order to avoid bending of the guidewire in the blood vessel during the delivery process, the first delivery wheel assembly 31 is required to retract the guidewire while the telescopic delivery mechanism 10 contracts to keep the axial position of the guidewire unchanged.

[0162] In step S08, after the obstructed position described in step S07 is passed by the intermediate catheter, the guide wire is continuously delivered (step S06); the guide wire and the intermediate catheter are delivered alternately to pass the obstructed position.

[0163] In step S09, after the tip of the guidewire is delivered to the surgical position expected by the doctor, the guidewire delivery is stopped; the telescopic delivery mechanism 10 is extended, the first delivery box assembly 30 and the third delivery box assembly 50 move away from each other, and the third delivery wheel assembly 56 is turned on at the same time to retract the intermediate catheter to pull the intermediate catheter out of the catheter; during the retraction of the intermediate catheter, the telescopic delivery mechanism 10 is extended and the first delivery wheel assembly 31 needs to be turned on to deliver the guidewire forward to ensure that the axial position of the guidewire remains unchanged.

[0164] In step S10, the delivery catheter continues: after the intermediate catheter is pulled out, the third delivery box assembly 50 is driven by the driving assembly 60 to move forward along the axial direction of the primary telescopic rod 11, so that the third delivery box assembly 50 moves toward the second delivery box assembly 40, and at the same time, the second delivery wheel assembly 46 is turned on to continue to deliver the catheter following the guide wire until the tip of the catheter reaches the surgical position expected by the doctor, and then the delivery of the catheter is stopped.

[0165] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A coaxial interventional device delivery system, characterized in that: include: The telescopic delivery mechanism (10) comprises a plurality of telescopic rods which are sequentially sleeved from the inside to the outside, the plurality of telescopic rods being threadedly connected to each other, and the innermost telescopic rod is a primary telescopic rod (11); A first delivery box assembly (30) disposed at one end of the telescopic delivery mechanism (10); A second delivery box assembly (40) is arranged at the end of the primary telescopic rod (11) at the other end of the telescopic delivery mechanism (10); A third delivery box assembly (50) is arranged on the primary telescopic rod (11), and the third delivery box assembly (50) is configured to be rotatable around the axis of the primary telescopic rod (11) and movable along the axis of the primary telescopic rod (11); a telescopic guide rail support mechanism (20), the telescopic delivery mechanism (10) being arranged in parallel with the telescopic guide rail support mechanism (20), and the telescopic guide rail support mechanism (20) being capable of supporting the telescopic delivery mechanism (10) and telescoping along with the telescopic delivery mechanism (10); A driving assembly (60), wherein the primary telescopic rod (11) is inserted into the driving assembly (60) and is threadedly connected to the driving assembly (60), and the driving assembly (60) is slidably connected to the telescopic guide rail support mechanism (20) via a slider, and the driving assembly (60) comprises: A sliding seat (61) slidably connected to the telescopic guide rail support mechanism (20) via the sliding block; A nut (62) is rotatably disposed in the sliding seat (61) via a bearing, and the nut (62) is threadedly connected to the primary telescopic rod (11); a motor (63), disposed on the sliding seat (61) and drivingly connected to the nut (62), the motor (63) being used to drive the nut (62) to rotate; a rotating sleeve (64) rotatably disposed in the sliding seat (61) via a bearing, the rotating sleeve (64) being sleeved on the primary telescopic rod (11), and the rotating sleeve (64) being connected to the third delivery box assembly (50) via an adapter plate (16); A locking device, the locking device being used to drive the rotating sleeve (64) to lock with the sliding seat (61) or the nut (62); The telescopic delivery mechanism (10) can enable the first delivery box assembly (30) to move forward and backward relative to the second delivery box assembly (40) and the third delivery box assembly (50) to deliver or withdraw an interventional device.

2. The coaxial interventional device delivery system according to claim 1, characterized in that: The first delivery box assembly (30) has a first delivery channel, the second delivery box assembly (40) has a second delivery channel, and the third delivery box assembly (50) has a third delivery channel. The first delivery channel and the second delivery channel are located on the same straight line, and the third delivery box assembly (50) can be rotated until the third delivery channel and the first delivery channel are located on the same straight line; the axes of the delivery channels are parallel to the telescopic axis of the telescopic delivery mechanism (10).

3. The coaxial interventional device delivery system according to claim 1, characterized in that: The outermost telescopic rod is a final telescopic rod (12), one end of which is externally connected to a telescopic rod rotation drive mechanism (13), and the telescopic rod rotation drive mechanism (13) is capable of driving the final telescopic rod (12) to rotate and to extend and retract the telescopic delivery mechanism (10).

4. The coaxial interventional device delivery system according to claim 1, characterized in that: The locking device comprises: An armature plate (65) is rotatably sleeved on the outer periphery of the rotating shaft sleeve (64) via a bearing, one side of the armature plate (65) is axially plugged into the sliding seat (61), and the other side of the armature plate (65) can be abutted and locked with the adapter plate (16); An electromagnetic coil (66) is disposed in the sliding seat (61), and the electromagnetic coil (66) is used to drive the armature plate (65) to move along the axis of the rotating shaft sleeve (64); A spring, disposed between the armature plate (65) and the sliding seat (61); When the electromagnetic coil (66) is de-energized, the spring pushes the armature plate (65) and the adapter plate (16) to abut and lock, and the third delivery box assembly (50) moves with the sliding seat (61); When the electromagnetic coil (66) is energized, the armature plate (65) drives the rotating sleeve (64) to move toward the nut (62) and abuts against and locks with the nut (62), and the third delivery box assembly (50) rotates with the nut (62).

5. The coaxial interventional device delivery system according to claim 1, characterized in that: The first delivery box assembly (30) comprises: a first delivery wheel set (31), the first delivery wheel set (31) being used to clamp the interventional instrument and deliver or withdraw the interventional instrument; A first delivery box driving mechanism, drivingly connected to the first delivery wheel set (31); First Y-valve mounting groove (32); The first Y-valve (33) is detachably mounted in the first Y-valve mounting groove (32), the inlet of the first Y-valve (33) faces the first delivery wheel assembly (31), and the outlet of the first Y-valve (33) faces the second delivery box assembly (40), and the first Y-valve (33) is used to fix the tail end of the interventional instrument.

6. The coaxial interventional device delivery system according to claim 1, characterized in that: The second delivery box assembly (40) comprises: A second delivery box mounting plate (41) connected to the end of the primary telescopic rod (11); A second delivery box driving mechanism, arranged on one side of the second delivery box mounting plate (41); The second delivery box (45) is detachably mounted on the other side of the second delivery box mounting plate (41), and the second delivery box driving mechanism is drivingly connected to the second delivery box (45).

7. The coaxial interventional device delivery system according to claim 6, characterized in that: The second delivery box mounting plate (41) is provided with a first magnetic block (42), a first positioning protrusion (43) and a first power output connector (44); the second delivery box (45) is magnetically connected to the first magnetic block (42); the second delivery box (45) is matched and plugged with the first positioning protrusion (43); the second delivery box driving mechanism is drivingly connected to the second delivery wheel set (46) in the second delivery box (45) via the first power output connector (44); the second delivery wheel set (46) is used to clamp the interventional instrument and deliver or withdraw the interventional instrument.

8. The coaxial interventional device delivery system according to claim 1, characterized in that: The third delivery box assembly (50) comprises: a third delivery box mounting plate (51) rotatably mounted on the primary telescopic rod (11) via the driving assembly (60); A third delivery box driving mechanism, arranged on one side of the third delivery box mounting plate (51); The third delivery box (55) is detachably mounted on the other side of the third delivery box mounting plate (51), and the third delivery box driving mechanism is drivingly connected to the third delivery box (55).

9. The coaxial interventional device delivery system according to claim 8, characterized in that: The third delivery box mounting plate (51) is provided with a second magnetic block (52), a second positioning protrusion (53) and a second power output connector (54); the third delivery box (55) is magnetically connected to the second magnetic block (52); the third delivery box (55) is matingly plugged into the second positioning protrusion (53); and the third delivery box driving mechanism is drivingly connected to the third delivery box (55) via the second power output connector (54).

10. The coaxial interventional device delivery system according to claim 9, characterized in that: The third delivery box (55) comprises: case; A third delivery wheel set (56) is arranged in the housing, the second power output connector (54) is connected to the third delivery wheel set (56), and the third delivery wheel set (56) is used to clamp the interventional instrument and deliver or withdraw the interventional instrument; A second Y-valve mounting groove (57) is provided in the housing; The second Y-valve (58) is detachably mounted in the second Y-valve mounting groove (57), the inlet of the second Y-valve (58) faces the third delivery wheel assembly (56), and the outlet of the second Y-valve (58) faces the second delivery box assembly (40), and the second Y-valve (58) is used to fix the tail end of the interventional instrument.

Images